Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-08 17:03:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF: Remove redundant if statement

Browse Source 
Thank you to OXINARF for picking up this one
This commit is contained in:
Paul Riseborough 2015-11-06 17:34:53 +11:00
parent 2243f95074
commit 0f8cfa02ab
1 changed files with 5 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
libraries/AP_NavEKF/AP_NavEKF_core.cpp
View File

@ -3973,14 +3973,11 @@ void NavEKF_core::readGpsData()
// Set the EKF origin and magnetic field declination if not previously set and GPS checks have passed // Set the EKF origin and magnetic field declination if not previously set and GPS checks have passed
if (!validOrigin && gpsGoodToAlign) { if (!validOrigin && gpsGoodToAlign) {
// Set the NE origin to the current GPS position if not previously set setOrigin();
if (!validOrigin) { // Now we know the location we have an estimate for the magnetic field declination and adjust the earth field accordingly
setOrigin(); alignMagStateDeclination();
// Now we know the location we have an estimate for the magnetic field declination and adjust the earth field accordingly // Set the height of the NED origin to ‘height of baro height datum relative to GPS height datum'
alignMagStateDeclination(); EKF_origin.alt = gpsloc.alt - hgtMea;
// Set the height of the NED origin to ‘height of baro height datum relative to GPS height datum'
EKF_origin.alt = gpsloc.alt - hgtMea;
}
} }
// Commence GPS aiding when able to // Commence GPS aiding when able to